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Overview

This is an experimental package. Significant interface changes are anticipated. Some are outlined below.

It provides ROS nodes for publishing observations about obstacles in the road.

ROS Nodes

observers_node

Observers for obstacles in lanes.

Subscribed Topics

velodyne/obstacles (sensor_msgs/PointCloud)

• known obstacles from Velodyne

obstacles (sensor_msgs/PointCloud2)

• all known obstacles

roadmap_local (art_msgs/ArtLanes)

• local road map

Published Topics

observations (art_msgs/ObservationArray)

• An array of current observations.

visualization_marker_array (visualization_msgs/MarkerArray)

• Marks for occupied map polygons.

Parameters

map_frame_id (str, default: "/map")

• Absolute frame ID of road map.

robot_frame_id (str, default: "vehicle")

• Frame ID of robot (resolved using tf_prefix if defined).

max_range (double, default: 80.0)

• Maximum valid obstacle range (meters).

points_on_road

Publish point cloud of obstacles detected on the road.

Subscribed Topics

velodyne/obstacles (sensor_msgs/PointCloud)

• current obstacles from Velodyne

roadmap_local (art_msgs/ArtLanes)

• local road map

Published Topics

obstacles/points_on_road (sensor_msgs/PointCloud)

• Point cloud with each lane quadrilateral containing an obstacle.

To Do List

• Read input in sensor_msgs/PointCloud2 format.

• Publish output in sensor_msgs/PointCloud2 format.

• Make better topic names.